A method of creating a parking facility map includes obtaining one or more images of a parking facility, generating an estimate map of parking spaces in the parking facility based at least on the one or more images (the estimate map of parking spaces includes a plurality of estimate parking space shapes), identifying a parking block that includes a cluster of estimate parking spaces among the plurality of estimate parking space shapes, determining a common geometric pattern among the cluster of estimate parking spaces, correcting geometrical features of one or more estimate parking spaces in the cluster of estimate parking spaces based at least in part on the common geometric pattern, identifying one or more gaps among the cluster of estimate parking space shapes, and determining a number of inserted parking spaces to fill the one or more gaps based at least in part on the common geometric pattern.